Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Diff: actuators.cpp

Revision:
66:d1ab5904f8e5
Parent:
62:6c566e6f9664
Child:
68:21cb054f1399
--- a/actuators.cpp	Wed Oct 14 13:52:16 2015 +0200
+++ b/actuators.cpp	Thu Oct 15 16:06:35 2015 +0200
@@ -30,8 +30,8 @@
     double Ki1 = 0; 
     double Kd1 = 0;
 
-    double Kp2 = 1; 
-    double Ki2 = 0; 
+    double Kp2 = 0.0184; 
+    double Ki2 = 0.32; 
     double Kd2 = 0;
 
     double motor1PrevPos = 0;
@@ -92,7 +92,7 @@
 
         // check if motor's are within rotational boundarys
     // get  encoder speeds in deg/sec
-        now = t.read();
+        now = t.read(); 
         timechange = (now - prevTime);
         motor1Speed = -((((encoder1.getPosition() - motor1PrevPos)/32)/131.25)*360)/timechange;
         motor2Speed = -((((encoder2.getPosition() - motor2PrevPos)/32)/131.25)*360)/timechange;